Systems and methods for a sub-robot unit transporting a package from on-road an autonomous vehicle to a door or dropbox

ABSTRACT

In accordance with aspects of the present disclosure, an autonomous robot vehicle is disclosed. In various embodiments, the autonomous robot vehicle includes a first land conveyance system configured to travel on vehicle roadways, a navigation system configured to navigate to a destination location, an exterior housing, and a sub-robot vehicle carried within the exterior housing while the first land conveyance system autonomously travels on the vehicle roadways to the destination location. The sub-robot vehicle includes a second land conveyance system configured to travel on pedestrian terrain, one or more modules configured to store customer items where the module(s) include one or more compartments or sub-compartments, one or more processors, and a memory storing instructions which, when executed by the processor(s), cause the sub-robot vehicle to autonomously control the second land conveyance system to exit the exterior housing and travel the pedestrian terrain to a customer pickup location.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation-in-part of InternationalApplication No. PCT/US2018/044361, filed on Jul. 30, 2018, which claimsthe benefit of U.S. Provisional Application No. 62/538,538, filed onJul. 28, 2017. The entire contents of each of the foregoing applicationsare hereby incorporated by reference.

FIELD OF THE TECHNOLOGY

The present application relates to autonomous vehicles, and inparticular, to autonomous robot vehicles that carry sub-robot vehicles.

BACKGROUND

The field of fully-autonomous and/or semi-autonomous robots is a growingfield of innovation. Robots are being used for many purposes includingwarehouse inventory operations, household vacuuming robots, hospitaldelivery robots, sanitation robots, and military or defenseapplications.

In the consumer space, handling and delivery of items by autonomousvehicles could improve society in many ways. For example, rather thanspending time driving to a store, a person can instead engage inproductive work while waiting for an autonomous vehicle to deliver theitems. With fewer vehicles on the road, traffic conditions would alsoimprove. For example, instead of several people driving to stores inseveral vehicles, a single autonomous vehicle could deliver items tothose people and thereby reduce the number of vehicles on the road.

Because many houses are inset from the curb, delivery personnel oftenhave to walk up paths or sidewalks which are not always well suited foron-road type vehicular travel. On road delivery vehicles may be toolarge or unwieldy for such applications. Accordingly, there is interestin developing and improving technologies for delivery of items andservices.

SUMMARY

This disclosure relates to a fully-autonomous and/or semi-autonomousrobot fleet and, in particular, to autonomous robot vehicles that carrysub-robot vehicles.

In accordance with aspects of the present disclosure, an autonomousrobot vehicle includes a first land conveyance system configured totravel on vehicle roadways, a navigation system configured to navigateto a destination location, an exterior housing, and a sub-robot vehiclecarried within the exterior housing while the first land conveyancesystem autonomously travels on the vehicle roadways to the destinationlocation. The sub-robot vehicle includes a second land conveyance systemconfigured to travel on pedestrian terrain, one or more modulesconfigured to store customer items where the module(s) include one ormore compartments or sub-compartments, one or more processors, and amemory storing instructions which, when executed by the processor(s),cause the sub-robot vehicle to autonomously control the second landconveyance system to exit the exterior housing and travel the pedestrianterrain to a customer pickup location.

In another aspect of the present disclosure, the destination location isone of a securable drop-box, a residential address, or a commercialaddress.

In yet another aspect of the present disclosure, the instructions, whenexecuted by the at least one processor of the sub-robot vehicle, furthercause the sub-robot vehicle to receive an item corresponding to apurchase order prior to the autonomous robot vehicle traveling to thedestination location.

In a further aspect of the present disclosure, the autonomous robotvehicle further includes at least one second processor and a secondmemory storing second instructions which, when executed by the secondprocessor(s), cause the autonomous robot vehicle to stop away from thedestination location, where the sub-robot vehicle travels a remainingdistance to the destination location on the pedestrian terrain.

In an aspect of the present disclosure, the second instructions, whenexecuted by the at least one second processor, cause the first landconveyance system to autonomously travel to a second destinationlocation at the same time the sub-robot vehicle travels the remainingdistance to the destination location.

In a further aspect of the present disclosure, the customer pickuplocation is selected by a customer.

In yet another aspect of the present disclosure, the autonomous robotvehicle further includes at least one second processor and a secondmemory storing second instructions which, when executed by the secondprocessor(s), cause the autonomous robot vehicle to determine thecustomer pickup location based on surrounding environment of thedestination location. In various embodiments, the customer pickuplocation includes at least one of: a front door, a front porch, a streetcurb near the customer pickup location, or a side door.

In various embodiments, the surrounding environment of the destinationlocation includes at least one of a lawn or a stairway.

In a further aspect of the present disclosure, the second instructions,when executed by the at least one second processor, cause the autonomousrobot vehicle to select one of a plurality of sub-robot vehiclessuitable for reaching the customer pickup location through thesurrounding environment, where the plurality of sub-robot vehiclesincludes the sub-robot vehicle. In various embodiments, the plurality ofsub-robot vehicles includes at least one of a first sub-robot vehicleconfigured to traverse the lawn and a second sub-robot configure toclimb the stairway.

In accordance with aspects of the present disclosure, a computerimplemented method for autonomous robot vehicle delivery includesnavigating, via a navigation system, an autonomous robot vehicle to adestination location, autonomously traveling, via a first landconveyance system of the autonomous robot vehicle, on vehicle roadwaysto the destination location, carrying a sub-robot vehicle within anexterior housing of the autonomous robot vehicle while the first landconveyance system autonomously travels on the vehicle roadways to thedestination location. The sub-robot vehicle includes a second landconveyance system configured to travel on pedestrian terrain, and atleast one module configured to store customer items where the module(s)includes at least one compartment or sub-compartment. The methodincludes instructing the sub-robot vehicle to exit the exterior housingof the autonomous robot vehicle and autonomously travel, via the secondland conveyance system, the pedestrian terrain to a customer pickuplocation.

In a further aspect of the present disclosure, the destination locationis at least one of a securable drop-box, a residential address, or acommercial address.

In yet another aspect of the present disclosure, the computerimplemented method further includes instructing the sub-robot vehicle toreceive an item corresponding to a purchase order prior to traveling tothe destination location.

In a further aspect of the present disclosure, the computer implementedmethod further includes controlling the first land conveyance system ofthe autonomous robot vehicle to stop away from the destination location,and instructing the sub-robot vehicle to travel a remaining distance tothe destination location on the pedestrian terrain.

In an aspect of the present disclosure, the computer implemented methodincludes controlling the first land conveyance system of the autonomousrobot vehicle to autonomously travel to a second destination location atthe same time the sub-robot vehicle travels the remaining distance tothe destination location

In various embodiments, the customer pickup location is specified by acustomer.

In an aspect of the present disclosure, the computer implemented methodfurther includes determining, by the autonomous robot vehicle, thecustomer pickup location based on surrounding environment of thedestination location. In various embodiments, the customer pickuplocation includes one or more of: a front door, a front porch, a streetcurb near the customer pick up location, or a side door.

In various embodiments, the surrounding environment of the destinationlocation includes at least one of a lawn or a stairway.

In another aspect of the present disclosure, the computer implementedmethod further includes selecting, by the autonomous robot vehicle, oneof a plurality of sub-robot vehicles suitable for reaching the customerpickup location through the surrounding environment, the plurality ofsub-robot vehicles including the sub-robot vehicle. In variousembodiments, the plurality of sub-robot vehicles includes at least oneof a first sub-robot vehicle configured to traverse the lawn or a secondsub-robot configure to climb the stairway.

Further details and aspects of exemplary embodiments of the presentdisclosure are described in more detail below with reference to theappended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

A better understanding of the features and advantages of the disclosedtechnology will be obtained by reference to the following detaileddescription that sets forth illustrative embodiments, in which theprinciples of the technology are utilized, and the accompanying drawingsof which:

FIG. 1 is an exemplary view an autonomous robot fleet, wherein eachvehicle within a fleet or sub-fleet can be branded for an entity;

FIG. 2 is an exemplary ISO view of a robot vehicle, part of anautonomous robot fleet, illustrating securable compartments within thevehicle;

FIG. 3 is an exemplary front view of a robot vehicle, part of anautonomous robot fleet, shown in comparison to the height of an averageperson;

FIG. 4 is an exemplary right side view of a robot vehicle, part of anautonomous robot fleet, illustrating a configuration with two large sidedoors, each enclosing securable compartments;

FIG. 5 is an exemplary left side view of a robot vehicle, part of anautonomous robot fleet, shown in comparison to the height of an averageperson;

FIG. 6 is an exemplary rear view of a robot vehicle, part of anautonomous robot fleet;

FIG. 7 is an exemplary ISO view of a robot vehicle, part of anautonomous robot fleet, illustrating an autonomous lunch deliveryvehicle for any branded company;

FIG. 8 is an exemplary ISO view of a robot vehicle, part of anautonomous robot fleet, illustrating an autonomous pizza deliveryvehicle for any branded company;

FIG. 9 is an exemplary ISO view of a robot vehicle, part of anautonomous robot fleet, illustrating an autonomous coffee deliveryvehicle for any branded company;

FIG. 10 is an exemplary ISO view of a robot vehicle, part of anautonomous robot fleet, illustrating an autonomous evening/nighttimedelivery vehicle for any branded company, comprising a lighted interior;

FIG. 11 is an exemplary flowchart representation of the logic for afleet management control module associated with a central server for therobot fleet;

FIG. 12 is an exemplary flowchart representation of the logic flow fromthe Fleet Management Control Module through the robot processor to thevarious systems and modules of the robot;

FIG. 13 is an exemplary flowchart representation illustrative of a highlevel method for autonomous robot vehicle delivery via a sub-robotvehicle; and

FIG. 14 is an exemplary ISO view of a robot vehicle, part of anautonomous robot fleet, illustrating a sub-robot vehicle in acompartment of the robot vehicle.

DETAILED DESCRIPTION

This disclosure relates to a fully-autonomous and/or semi-autonomousrobot fleet and, in particular, to robot vehicles for transporting orretrieving deliveries in either open unstructured outdoor environmentsor closed environments.

Provided herein is a robot fleet having robot vehicles operatingfully-autonomously or semi-autonomously and a fleet management modulefor coordination of the robot fleet, where each robot within the fleetis configured for transporting, delivering or retrieving goods orservices and is capable of operating in an unstructured open or closedenvironment. Each robot can include a power system, a conveyance system,a navigation module, at least one securable compartment or multiplesecurable compartments to hold goods, a controller configurable toassociate each of the securable compartments to an assignable customer,a customer group within a marketplace, or provider and provide entrywhen authorized, a communication module and a processor configured tomanage the conveyance system, the navigation module, the sensor system,the communication module and the controller.

As used herein, the term “autonomous” includes fully-autonomous,semi-autonomous, and any configuration in which a vehicle can travel ina controlled manner for a period of time without human intervention.

As used herein, the term “fleet,” “sub-fleet,” and like terms are usedto indicate a number of land vehicles, watercraft or aircraft operatingtogether or under the same ownership. In some embodiments the fleet orsub-fleet is engaged in the same activity. In some embodiments, thefleet or sub-fleet are engaged in similar activities. In someembodiments, the fleet or sub-fleet are engaged in different activities.

As used herein, the term “robot,” “robot vehicle,” “robot fleet,”“vehicle,” “all-terrain vehicle,” and like terms are used to indicate amobile machine that transports cargo, items, and/or goods. Typicalvehicles include cars, wagons, vans, unmanned motor vehicles (e.g.,tricycles, trucks, trailers, buses, etc.), unmanned railed vehicles(e.g., trains, trams, etc.), unmanned watercraft (e.g., ships, boats,ferries, landing craft, barges, rafts, etc.), aerial drones, unmannedhovercraft (air, land and water types), unmanned aircraft, and evenincluding unmanned spacecraft.

As used herein, the term “compartment” is used to indicate an internalbay of a robot vehicle that has a dedicated door at the exterior of thevehicle for accessing the bay, and also indicates an insert securedwithin the bay. The term “sub-compartment” is generally used to indicatea subdivision or portion of a compartment. When used in the context of acompartment or sub-compartment, the term “module” may be used toindicate one or more compartments or sub-compartments.

As used herein, the term “user,” “operator,” “fleet operator,” and liketerms are used to indicate the entity that owns or is responsible formanaging and operating the robot fleet.

As used herein, the term “customer” and like terms are used to indicatethe entity that requests the services provided the robot fleet.

As used herein, the term “provider,” “business,” “vendor,” “third partyvendor,” and like terms are used to indicate an entity that works inconcert with the fleet owner or operator to utilize the services of therobot fleet to deliver the provider's product from and or return theprovider's product to the provider's place of business or staginglocation.

As used herein, the term “server,” “computer server,” “central server,”“main server,” and like terms are used to indicate a computer or deviceon a network that manages the fleet resources, namely the robotvehicles.

As used herein, the term “controller” and like terms are used toindicate a device that controls the transfer of data from a computer toa peripheral device and vice versa. For example, disk drives, displayscreens, keyboards, and printers all require controllers. In personalcomputers, the controllers are often single chips. As used herein thecontroller is commonly used for managing access to components of therobot such as the securable compartments.

As used herein a “mesh network” is a network topology in which each noderelays data for the network. All mesh nodes cooperate in thedistribution of data in the network. It can be applied to both wired andwireless networks. Wireless mesh networks can be considered a type of“Wireless ad hoc” network. Thus, wireless mesh networks are closelyrelated to Mobile ad hoc networks (MANETs). Although MANETs are notrestricted to a specific mesh network topology, Wireless ad hoc networksor MANETs can take any form of network topology. Mesh networks can relaymessages using either a flooding technique or a routing technique. Withrouting, the message is propagated along a path by hopping from node tonode until it reaches its destination. To ensure that all its paths areavailable, the network must allow for continuous connections and mustreconfigure itself around broken paths, using self-healing algorithmssuch as Shortest Path Bridging. Self-healing allows a routing-basednetwork to operate when a node breaks down or when a connection becomesunreliable. As a result, the network is typically quite reliable, asthere is often more than one path between a source and a destination inthe network. This concept can also apply to wired networks and tosoftware interaction. A mesh network whose nodes are all connected toeach other is a fully connected network.

As used herein, the term “module” and like terms are used to indicate aself-contained hardware component of the central server, which in turnincludes software modules. In software, a module is a part of a program.Programs are composed of one or more independently developed modulesthat are not combined until the program is linked. A single module cancontain one or several routines, or sections of programs that perform aparticular task. As used herein the fleet management module includessoftware modules for managing various aspects and functions of the robotfleet.

As used herein, the term “processor,” “digital processing device” andlike terms are used to indicate a microprocessor or central processingunit (CPU). The CPU is the electronic circuitry within a computer thatcarries out the instructions of a computer program by performing thebasic arithmetic, logical, control and input/output (I/O) operationsspecified by the instructions.

In accordance with the description herein, suitable digital processingdevices include, by way of non-limiting examples, server computers,desktop computers, laptop computers, notebook computers, sub-notebookcomputers, netbook computers, netpad computers, set-top computers,handheld computers, Internet appliances, mobile smartphones, tabletcomputers, personal digital assistants, video game consoles, andvehicles. Those of skill in the art will recognize that many smartphonesare suitable for use in the system described herein. Suitable tabletcomputers include those with booklet, slate, and convertibleconfigurations, known to those of skill in the art.

In some embodiments, the digital processing device includes an operatingsystem configured to perform executable instructions. The operatingsystem is, for example, software, including programs and data, whichmanages the device's hardware and provides services for execution ofapplications. Those of skill in the art will recognize that suitableserver operating systems include, by way of non-limiting examples,FreeBSD, OpenBSD, NetBSD®, Linux, Apple® Mac OS X Server®, Oracle®Solaris®, Windows Server®, and Novell® NetWare®. Those of skill in theart will recognize that suitable personal computer operating systemsinclude, by way of non-limiting examples, Microsoft® Windows®, Apple®Mac OS X®, UNIX®, and UNIX-like operating systems such as GNU/Linux®. Insome embodiments, the operating system is provided by cloud computing.Those of skill in the art will also recognize that suitable mobile smartphone operating systems include, by way of non-limiting examples, Nokia®Symbian® OS, Apple® iOS®, Research In Motion® BlackBerry OS®, Google®Android®, Microsoft® Windows Phone® OS, Microsoft® Windows Mobile® OS,Linux®, and Palm® WebOS®.

In some embodiments, the device includes a storage and/or memory device.The storage and/or memory device is one or more physical apparatus usedto store data or programs on a temporary or permanent basis. In someembodiments, the device is volatile memory and requires power tomaintain stored information. In some embodiments, the device isnon-volatile memory and retains stored information when the digitalprocessing device is not powered. In some embodiments, the non-volatilememory includes flash memory. In some embodiments, the non-volatilememory includes dynamic random-access memory (DRAM). In someembodiments, the non-volatile memory includes ferroelectric randomaccess memory (FRAM). In some embodiments, the non-volatile memoryincludes phase-change random access memory (PRAM). In some embodiments,the device is a storage device including, by way of non-limitingexamples, CD-ROMs, DVDs, flash memory devices, magnetic disk drives,magnetic tapes drives, optical disk drives, and cloud computing basedstorage. In some embodiments, the storage and/or memory device is acombination of devices such as those disclosed herein.

In some embodiments, the digital processing device includes a display tosend visual information to a user. In some embodiments, the display is acathode ray tube (CRT). In some embodiments, the display is a liquidcrystal display (LCD). In some embodiments, the display is a thin filmtransistor liquid crystal display (TFT-LCD). In some embodiments, thedisplay is an organic light emitting diode (OLED) display. In varioussome embodiments, on OLED display is a passive-matrix OLED (PMOLED) oractive-matrix OLED (AMOLED) display. In some embodiments, the display isa plasma display. In some embodiments, the display is a video projector.In some embodiments, the display is interactive (e.g., having a touchscreen or a sensor such as a camera, a 3D sensor, a LiDAR, a radar,etc.) that can detect user interactions/gestures/responses and the like.In still some embodiments, the display is a combination of devices suchas those disclosed herein.

The Fleet of Robot Vehicles

Provided herein is a robot fleet 100, as illustrated in FIG. 1, havingrobot vehicles 101, with each one operating fully-autonomously orsemi-autonomously.

As illustrated in FIGS. 3-6, one exemplary configuration of a robot 101is a vehicle configured for land travel, such as a smallfully-autonomous (or semi-autonomous) automobile. The exemplaryfully-autonomous (or semi-autonomous) automobile is narrow (i.e., 2-5feet wide), low mass and low center of gravity for stability, havingmultiple secure compartments assignable to one or more customers,retailers and/or vendors, and designed for moderate working speed ranges(i.e., 1.0-45.0 mph) to accommodate inner-city and residential drivingspeeds. Additionally, in some embodiments, the land vehicle robot unitsin the fleet are configured with a maximum speed range from 1.0 mph toabout 90.0 mph for high speed, intrastate or interstate driving. Eachrobot in the fleet is equipped with onboard sensors 170 (e.g., cameras(running at a high frame rate, akin to video), LiDAR, radar, ultrasonicsensors, microphones, etc.) and internal computer processing toconstantly determine where it can safely navigate, what other objectsare around each robot and what it may do.

In in some embodiments, the robot fleet is fully-autonomous.

In in some embodiments, the robot fleet is semi-autonomous. In someembodiments, it may be necessary to have human interaction between therobot 101, the fleet operator 200, the provider 204 and/or the customer202 to address previously unforeseen issues (e.g., a malfunction withthe navigation module; provider inventory issues; unanticipated trafficor road conditions; or direct customer interaction after the robotarrives at the customer location).

In in some embodiments, the robot fleet 100 is controlled directly bythe user 200. In some embodiments, it may be necessary to have directhuman interaction between the robot 101 and/or the fleet operator 200 toaddress maintenance issues such as mechanical failure, electricalfailure or a traffic accident.

In some embodiments, the robot fleet is configured for land travel. Insome embodiments, each robot land vehicle in the fleet is configuredwith a working speed range from 13.0 mph to 45.0 mph. In someembodiments, the land vehicle robot units in the fleet are configuredwith a maximum speed range from 13.0 mph to about 90.0 mph.

In some embodiments, the robot fleet is configured for water travel as awatercraft and is configured with a working speed range from 1.0 mph to45.0 mph.

In some embodiments, the robot fleet is configured for hover travel asan over-land or over-water hovercraft and is configured with a workingspeed range from 1.0 mph to 60.0 mph.

In some embodiments, the robot fleet is configured for air travel as anaerial drone or aerial hovercraft and is configured with a working speedrange from 1.0 mph to 80.0 mph.

In some embodiments of the robot fleet, the autonomous robots within thefleet are operated on behalf of third party vendor/service provider.

For example, a fleet management service is established to provide aroving delivery service for a third party beverage/food provider (e.g.,a coffee service/experience for a third party vendor (i.e., Starbucks)).It is conceived that the fleet management service would provide asub-fleet of “white label” vehicles carrying the logo and products ofthat third party beverage/food provider to operate eitherfully-autonomously or semi-autonomously to provide this service.

In some embodiments of the robot fleet, the autonomous robots within thefleet are further configured to be part of a sub-fleet of autonomousrobots, and each sub-fleet is configured to operate independently or intandem with multiple sub-fleets having two or more sub-fleets (100-a,100-b).

For example, a package delivery service is configured to offer multiplelevels of service such as “immediate dedicated rush service,”“guaranteed morning/afternoon delivery service,” or “general deliveryservice.” A service provider could then have a dedicated sub-fleet ofdelivery vehicles for each type of service within their overall fleet ofvehicles. In yet another example, a third party has priority over acertain number of vehicles in the fleet. In so doing, they can guaranteea certain level of responsiveness. When they aren't using the vehicles,the vehicles are used for general services within the fleet (e.g., otherthird parties).

In some embodiments, the robot fleet is controlled directly by the user.

In some embodiments, there will likely be times when a vehicle breaksdown, has an internal system or module failure or is in need ofmaintenance. For example, in the event that the navigation module shouldfail, each robot within the fleet is configurable to allow for directcontrol of the robot's processor to override the conveyance and sensorsystems (i.e., cameras, etc.) by a fleet operator to allow for the safereturn of the vehicle to a base station for repair.

The Operating Environments

In some embodiments, the unstructured open environment is a non-confinedgeographic region accessible by navigable pathways, including, forexample, public roads, private roads, bike paths, open fields, openpublic lands, open private lands, pedestrian walkways, lakes, rivers orstreams.

In some embodiments, the closed environment is a confined, enclosed orsemi-enclosed structure accessible by navigable pathways, including, forexample, open areas or rooms within commercial architecture, with orwithout structures or obstacles therein, airspace within open areas orrooms within commercial architecture, with or without structures orobstacles therein, public or dedicated aisles, hallways, tunnels, ramps,elevators, conveyors, or pedestrian walkways.

In some embodiments, the unstructured open environment is a non-confinedairspace or even near-space environment which includes all main layersof the Earth's atmosphere including the troposphere, the stratosphere,the mesosphere, the thermosphere and the exosphere.

In some embodiments, the navigation module controls routing of theconveyance system of the robots in the fleet in the unstructured open orclosed environments.

The Fleet Management Module

In some embodiments of the robot fleet 100, the fleet includes a fleetmanagement module 120 (associated with a central server) forcoordination of the robot fleet 100 and assignment of tasks for eachrobot 101 in the fleet. The fleet management module coordinates theactivity and positioning of each robot in the fleet. In addition tocommunicating with the robot fleet, fleet owner/operator and/or user,the fleet management module also communicates withproviders/vendors/businesses and customers to optimize behavior of theentire system.

The fleet management module works in coordination with a central server110, typically located in a central operating facility owned or managedby the fleet owner 200.

As illustrated in FIG. 11, in one embodiment, a request is sent to amain server 110 (typically located at the fleet owner's or fleetmanager's location), which then communicates with the fleet managementmodule 120. The fleet management module then relays the request to theappropriate provider 204 of the service (e.g., restaurant, deliveryservice, vendor or retailer) and an appropriate robot or robots 101 inthe fleet. The best appropriate robot(s) in the fleet within thegeographic region and typically closest to the service provider, is thenassigned the task, and the provider of the service 204 then interactswith that robot 101 at their business (e.g., loading it with goods, ifneeded). The robot then travels to the customer 202 and the customerinteracts with the robot to retrieve their goods or service (e.g., thegoods ordered). An interaction can include requesting the robot to openits compartment 102, 104 through the customer's app or through a userinterface on the robot itself (using, e.g., RFID reader and customerphone, a touchpad, a keypad, voice commands, vision-based recognition ofthe person, etc.). Upon completion of the delivery (or retrieval, ifappropriate), the robot reports completion of the assignment and reportsback to the fleet management module for re-assignment.

As further illustrated in FIG. 12, and previously noted, in someembodiments, the fleet management module 120 handles coordination of therobot fleet 100 and assignment of tasks for each robot 101 in the fleet.The fleet management module coordinates the activity and positioning ofeach robot in the fleet. The fleet management module also communicateswith vendors/businesses 204 and customers 202 to optimize behavior ofentire system. It does this by utilizing the robot's processor 125 toprocess the various inputs and outputs from each of the robot's systemsand modules, including: the conveyance system 130, the power system 135,the navigation module 140, the sensor system 170, 175, the communicationmodule 160, and the controller 150, to effectively manage and coordinatethe various functions of each robot in the fleet.

In some embodiments, the robot may be requested for a pick-up of an item(e.g., a document) with the intent of delivery to another party. In thisscenario, the fleet management module would assign the robot to arriveat a given location, assign a securable compartment for receipt of theitem, confirm receipt from the first party to the fleet managementmodule, then proceed to the second location where an informed receivingparty would recover the item from the robot using an appropriate PIN orother recognition code to gain access to the secure compartment. Therobot would then reports completion of the assignment and report back tothe fleet management module for re-assignment.

Conveyance Systems

Each robot vehicle 101 in the fleet includes a conveyance system 130(e.g., a drive system with a propulsion engine, wheels, treads, wings,rotors, blowers, rockets, propellers, brakes, etc.).

As noted previously, the robot fleet is configurable for land, water orair. Typical vehicles include cars, wagons, vans, unmanned motorvehicles (e.g., tricycles, trucks, trailers, buses, etc.), unmannedrailed vehicles (e.g., trains, trams, etc.), unmanned watercraft (e.g.,ships, boats, ferries, landing craft, barges, rafts, etc.), aerialdrones, unmanned hovercraft (air, land, and water types), unmannedaircraft, and unmanned spacecraft.

In one exemplary embodiment, a robot land vehicle 101 is configured witha traditional 4-wheeled automotive configuration comprising conventionalsteering and braking systems. The drive train is configurable forstandard 2-wheel drive or 4-wheel all-terrain traction drive. Thepropulsion system (engine) is configurable as a gas engine, a turbineengine, an electric motor and/or a hybrid gas/electric engine.Alternatively, the robot could be configured with an auxiliary solarpower system 135 to provide back-up emergency power or power for minorlow-power sub-systems.

Alternative configurations of components to a total drive system with apropulsion engine could include wheels, treads, wings, rotors, blowers,rockets, propellers, brakes, etc.

In some embodiments, the robot fleet is configured for water travel as awatercraft with a propulsion system (engine) that is configurable as agas engine, a turbine engine, an electric motor and/or a hybridgas/electric engine and is further configured with a propeller.

In some embodiments, the robot fleet is configured for hover travel asan over-land or over-water hovercraft or an air-cushion vehicle (ACV)and is configured with blowers to produce a large volume of air belowthe hull that is slightly above atmospheric pressure. The propulsionsystem (engine) is configurable as a gas engine, a turbine engine, anelectric motor and/or a hybrid gas/electric engine.

In some embodiments, the robot fleet is configured for air travel as anaerial drone or aerial hovercraft and is configured with wings, rotors,blowers, rockets, and/or propellers and an appropriate brake system. Thepropulsion system (engine) is configurable as a gas engine, a turbineengine, an electric motor and/or a hybrid gas/electric engine.

The Power System

In some embodiments, each robot of the robot fleet is configured withone or more power sources, which include the power system 135 (e.g.,battery, solar, gasoline, propane, etc.).

Navigation Module

Each robot in the fleet further includes a navigation module 140 fornavigation in the unstructured open or closed environments (e.g.,digital maps, HD maps, GPS, etc.). In some embodiments, the fleet 100relies on maps generated by the user, operator, or fleet operator,specifically created to cover the intended environment where the robotis configured to operate. These maps would then be used for generalguidance of each robot in the fleet, which would augment thisunderstanding of the environment by using a variety of on-board sensorssuch as cameras, LiDAR, altimeters or radar to confirm its relativegeographic position and elevation.

In some embodiments, for navigation, the fleet of robots uses internalmaps to provide information about where they are going and the structureof the road environment (e.g., lanes, etc.) and combine this informationwith onboard sensors (e.g., cameras, LiDAR, radar, ultrasound,microphones, etc.) and internal computer processing to constantlydetermine where they can safely navigate, what other objects are aroundeach robot and what they may do. In still other embodiments, the fleetincorporates on-line maps to augment internal maps. This information isthen combined to determine a safe, robust trajectory for the robot tofollow and this is then executed by the low level actuators on therobot.

In some embodiments, the fleet relies on a global positioning system(GPS) that allows land, sea, and airborne users to determine their exactlocation, velocity, and time 24 hours a day, in all weather conditions,anywhere in the world.

In some embodiments, the fleet of robots will use a combination ofinternal maps, sensors and GPS systems to confirm its relativegeographic position and elevation.

In some embodiments, the autonomous fleet is strategically positionedthroughout a geographic region in anticipation of a known demand.

Over time, a user 200 and/or a vendor 204 can anticipate demand forrobot services by storing data concerning how many orders (and what typeof orders) are made at particular times of day from different areas ofthe region. This can be done for both source (e.g., restaurants, grocerystores, general businesses, etc.) and destination (e.g., customer, otherbusinesses, etc.). Then, for a specific current day and time, thisstored data is used to determine what the optimal location of the fleetis given the expected demand. More concretely, the fleet can bepositioned to be as close as possible to the expected source locations,anticipating these source locations will be the most likely new ordersto come into the system. Even more concretely, it is possible toestimate the number of orders from each possible source in the next hourand weight each source location by this number. Then one can positionthe fleet so that the fleet optimally covers the weighted locationsbased on these numbers.

In some embodiments of the robot fleet, the positioning of robots can becustomized based on: anticipated use, a pattern of historical behaviors,or specific goods being carried.

Sensor Systems

As noted previously, each robot is equipped with a sensor system 170,which includes at least a minimum number of onboard sensors (e.g.,cameras (for example, those running at a high frame rate akin to video),LiDAR, radar, ultrasonic sensors, microphones, etc.) and internalcomputer processing 125 to constantly determine where it can safelynavigate, what other objects are around each robot, and what it may dowithin its immediate surroundings.

In some embodiments, the robots of the robot fleet further includeconveyance system sensors 175 configured to: monitor drive mechanismperformance (e.g., the propulsion engine); monitor power system levels135 (e.g., battery, solar, gasoline, propane, etc.); or monitor drivetrain performance (e.g., transmission, tires, brakes, rotors, etc.).

Communications Module

Each robot in the fleet further includes a communication module 160configurable to receive, store and send data to the fleet managementmodule, to a user, to and from the fleet management module 120, and toand from the robots in the fleet 100. In some embodiments, the data isrelated to at least user interactions and the robot fleet interactions,including, for example, scheduled requests or orders, on-demand requestsor orders, or a need for self-positioning of the robot fleet based onanticipated demand within the unstructured open or closed environments.

In some embodiments, each robot in the fleet includes at least onecommunication module configurable to receive, store and transmit data,and to store that data to a memory device, for future data transfer ormanual download.

In some embodiments, each business 204 and customer 202 has their ownapp/interface to communicate with the fleet operator 200 (e.g., “Nurocustomer app” for customers on their phone, “Nuro vendor app” forbusinesses on a tablet or phone or their internal computer system,etc.).

In some embodiments, the communication to the user and the robots in thefleet, between the robots of the fleet, and between the user and therobots in the fleet, occurs via wireless transmission.

In some embodiments, the user's wireless transmission interactions andthe robot fleet wireless transmission interactions occur via mobileapplication transmitted by an electronic device and forwarded to thecommunication module via: a central server, a fleet management module,and/or a mesh network.

In some embodiments, one preferred method of communication is to usecellular communication between the fleet manager and fleet of robots,(e.g., 3G, 4G, 5G, or the like). Alternatively, the communicationbetween the fleet control module and the robots could occur viasatellite communication systems.

In some embodiments, a customer uses an app (either on a cellphone,laptop, tablet, computer or any interactive device) to request a service(e.g., an on-demand food order or for a mobile marketplace robot to cometo them).

In some embodiments, the electronic device includes: a phone, a personalmobile device, a personal digital assistant (PDA), a mainframe computer,a desktop computer, a laptop computer, a tablet computer, and/orwearable computing device such as a communication headset, smartglasses, a contact lens or lenses, a digital watch, a bracelet, a ring,jewelry, or a combination thereof.

Goods and Services

In some embodiments, the user includes a fleet manager, asub-contracting vendor, a service provider, a customer, a businessentity, an individual, or a third party.

In some embodiments, the services include: subscription services,prescription services, marketing services, advertising services,notification services, or requested, ordered or scheduled deliveryservices. In particular embodiments, the scheduled delivery servicesinclude, by way of example, special repeat deliveries such as groceries,prescriptions, drinks, mail, documents, etc.

In some embodiments, the services further include: the user receivingand returning the same or similar goods within the same interaction(e.g., signed documents), the user receiving one set of goods andreturning a different set of goods within the same interaction, (e.g.,product replacement/returns, groceries, merchandise, books, recording,videos, movies, payment transactions, etc.), a third party userproviding instruction and or authorization to a goods or serviceprovider to prepare, transport, deliver and/or retrieve goods to aprinciple user in a different location.

In some embodiments, the services further include: advertising services,land survey services, patrol services, monitoring services, trafficsurvey services, signage and signal survey services, architecturalbuilding or road infrastructure survey services.

In some embodiments, at least one robot is further configured to processor manufacture goods.

In some embodiments, the processed or manufactured goods include:beverages, with or without condiments (such as coffee, tea, carbonateddrinks, etc.); various fast foods; or microwavable foods.

In some embodiments, the robots within the fleet are equipped forfinancial transactions. These can be accomplished using knowntransaction methods such as debit/credit card readers or the like.

Securable Compartments

As illustrated in FIG. 2, robots in the fleet are each configured fortransporting, delivering or retrieving goods or services and are capableof operating in an unstructured open environment or closed environment.In some embodiments, the vehicle 101 is configured to travel practicallyanywhere that a small all-terrain vehicle could travel on land, whileproviding at least one and preferably two large storage compartments102, and more preferably, at least one large compartment 102 isconfigured with smaller internal secure compartments 104 of variableconfigurations to carry individual items that are to be delivered to, orneed to be retrieved from customers.

Alternately, in some embodiments, the vehicle could be configured forwater travel, providing at least one and preferably two large storagecompartments, and more preferably, at least one large compartment isconfigured with smaller internal secure compartments of variableconfigurations to carry individual items that are to be delivered to, orneed to be retrieved from customers.

Further still, in some embodiments, the vehicle could be configured forhover travel, providing at least one and preferably two large storagecompartments, and more preferably, at least one large compartment isconfigured with smaller internal secure compartments of variableconfigurations to carry individual items that are to be delivered to, orneed to be retrieved from customers.

Further still, in some embodiments, the vehicle could be configured foraerial drone or aerial hover travel, providing at least one andpreferably two large storage compartments, and more preferably, at leastone large compartment is configured with smaller internal securecompartments of variable configurations to carry individual items thatare to be delivered to, or need to be retrieved from customers.

As illustrated in FIGS. 7-10, in some embodiments, the securablecompartments are humidity and temperature controlled for, for example,hot goods, cold goods, wet goods, dry goods, or combinations or variantsthereof. Further still, as illustrated in FIGS. 8-10, the compartment(s)are configurable with various amenities, such as compartment lightingfor night deliveries and condiment dispensers.

In some embodiments, the securable compartments are configurable forvarious goods. Such configurations and goods include: bookshelves forbooks, thin drawers for documents, larger box-like drawers for packages,and sized compartments for vending machines, coffee makers, pizza ovensand dispensers.

In some embodiments, the securable compartments are variablyconfigurable based on: anticipated demands, patterns of behaviors, areaof service, or types of goods to be transported.

Further still, each robot includes securable compartments to hold saidgoods or items associated with said services, and a controller 150configurable to associate each one of the securable compartments 102,104 to an assignable customer 202 or provider 204 and provide entry whenauthorized, Each robot vehicle further includes at least one processorconfigured to manage the conveyance system, the navigation module, thesensor system, instructions from the fleet management module, thecommunication module, and the controller.

As described previously, each robot is configured with securablecompartments. Alternately, a robot is configurable to contain a set ofgoods or even a mobile marketplace (similar to a mini bar at a hotel).

When a robot is assigned to a customer 202, one or more of thecompartments 102, 104 is also assigned to that customer. Each of thelarge compartments 12 is secured separately and can securely transportgoods to a separate set of customers 202.

Upon arrival of the robot to the customer destination, the customer canthen open their respective compartment(s) by verifying their identitywith the robot. This can be done through a wide variety of approachescomprising, but not limited to:

-   -   1. The customer can be given a PIN (e.g., 4 digit number) when        they make their initial request/order. They can then enter this        pin at the robot using the robot touchscreen or a keypad.    -   2. The customer can verify themselves using their mobile phone        and an RFID reader on the robot.    -   3. The customer can verify themselves using their voice and a        personal keyword or key phrase they speak to the robot.    -   4. The customer can verify themselves through their face, a        government ID, or a business ID badge using cameras and facial        recognition or magnetic readers on the robot.    -   5. The customer can verify themselves using their mobile phone;        by pushing a button or predetermined code on their phone (and        the system could optionally detect the customer is near the        robot by using their GPS position from phone)

Referring now to FIG. 13, there is shown a flow diagram of a method 1300for autonomous robot vehicle delivery via a sub-robot vehicle. Personsskilled in the art will appreciate that one or more operations of themethod 1300 may be performed in a different order, repeated, and/oromitted without departing from the scope of the present disclosure. Invarious embodiments, the illustrated method 1300 can operate in thecentral server 110 of FIG. 11, in the fleet management module 120, or inanother server or system. In various embodiments, some or all of theoperations in the illustrated method 1300 can operate in the robotvehicle 101, such as using the components of FIG. 12. Other variationsare contemplated to be within the scope of the present disclosure.

Initially at step 1302, the system communicates instructions to anautonomous robot vehicle 101 to travel to a destination location viavehicle roadways. The autonomous robot vehicle can include the systemsshown in FIG. 12, including a land conveyance system 130 and anavigation module 140, among others. In accordance with aspects of thepresent disclosure, the autonomous robot vehicle 101 carries a sub-robotvehicle 1402 within its exterior housing, as shown in FIG. 14. Thesub-robot vehicle 1402 may include secure module(s) 1404 configured tostore customer items. The secure module(s) 1404 may includecompartment(s) or sub-compartment(s).

In various embodiments, the autonomous robot vehicle 101 includes acommunication system configured to communicate wirelessly with thesub-robot vehicle 1402. In various embodiments, the wirelesscommunication may include Wi-Fi and/or Bluetooth. Aspects of theautonomous robot vehicle 101 are described above herein, includingaspect relating to navigation and autonomous travel. In accordance withaspects of the present disclosure, such aspects of an autonomous robotvehicle 101 apply also the sub-robot vehicle 1402.

In various embodiments, the sub-robot vehicle 1402 is carried within theexterior housing of the autonomous robot vehicle 101 while theautonomous robot vehicle 101 autonomously travels on vehicle roadways tothe destination location. The destination location can be, for example,a customer home address or a GPS location. In various embodiments, thedestination location may include, for example a securable drop-box, aresidential address, and/or a commercial address.

In various embodiments, the sub-robot vehicle 1402 includes module(s)1404 that are securable and configured to unlock using biometric datacorresponding to a recipient. In various embodiments, the recipient is aperson who receives an item from delivery. In various embodiments, thesub-robot vehicle 1402 receives an item corresponding to a purchaseorder prior to the autonomous robot vehicle 101 traveling to thedestination location.

In various embodiments, the autonomous robot vehicle 101 also includesmodule(s) 102 that are securable and configured to unlock usingbiometric data corresponding to a recipient. In various embodiments, therobot vehicle 101 can receive an item in a sub-compartment for delivery.In various embodiments, the robot vehicle 101 can determine whichcompartment 102 or sub-compartment to assign to a particular item basedon the description of the item, which may include dimension informationand weight information. In various embodiments, the autonomous robotvehicle 101 receives an item corresponding to a purchase order prior tothe autonomous robot vehicle 101 traveling to the destination location.

In various embodiments, the autonomous robot vehicle 101 can determinethat particular roadways should be avoided on the way to the destinationlocation. For example, such a determination can be performed by thenavigation system of the autonomous robot vehicle 101. The determinationto avoid the particular roadways can include stopping away from thedestination location. In such a situation, the sub-robot vehicle 1402can operate to travel the remaining distance to the destination locationvia pedestrian terrain, such as sidewalks. For example, the autonomousrobot vehicle 101 may determine that it should avoid certain roadwaysand should stop away from the destination location. In another example,the autonomous robot vehicle 101 may determine that certain stoppingpoints may be more ideal for route optimization. For example, if theautonomous robot vehicle 101 is carrying two orders, it may first stopand give the sub-robot 1402 the first order, and the autonomous robotvehicle 101 and sub-robot vehicle 1402 could simultaneously deliverorders at the same time. Accordingly, in various embodiments, while thesub-robot vehicle 1402 is traveling to the destination location, theautonomous robot vehicle 101 can travel to a second destination at thesame time that the sub-robot vehicle 1402 travels the remaining distanceto the customer pickup location.

At step 1304, the system receives an indication from the autonomousrobot vehicle that it has arrived at the destination location or arrivedat a location proximate to but away from the destination location. Whenthe autonomous robot vehicle 101 arrives at the destination location, itmay communicate a signal to the system that it has arrived. In variousembodiments, the sub-robot vehicle 1402 also includes a navigationsystem.

In accordance with aspects of the present disclosure, after theautonomous robot vehicle 101 reaches the destination location or stopsin proximity to but away from the destination location, at step 1306,the sub-robot vehicle 1402 can exit the autonomous robot vehicle 101 andtravel on pedestrian terrain to deliver a customer item. The sub-robotvehicle 1402 can be configured to travel on various types of pedestrianterrain, such as sidewalks, lawns, stairs, driveways, and/or unpavedwalkways, among others. The sub-robot vehicle 1402 can deliver thecustomer item to a customer pickup location at the destination location.

In various embodiments, the customer pickup location at the destinationlocation may be, for example, a front door, a front porch, a street curbnear the customer pick up location, a side door, a driveway, or anotherlocation or entry-way at a destination location. For example, this maybe specified by a customer prior to pick up (e.g., customer would likeitem to be dropped off on front porch vs. side door). In variousembodiments, if a customer does not specify a pickup location at thedestination location, the sub-robot vehicle 1402 and/or the autonomousrobot vehicle 101 (if it is close enough) may detect surroundingconditions and determine drop-off location based on pathway conditions(e.g., fences, shrubs, stairs) and what they consider the ideallocation.

In various embodiments, the system receives an indication from a userdevice specifying the customer pickup location and determines a customerpickup location based on the indication. In various embodiments, theuser device may be a mobile phone, a tablet, a laptop, or other mobiledevice. In various embodiments, the user may interact with theautonomous robot vehicle 101 and/or sub-robot vehicle 1402 using a userdevice. For example, a recipient may unlock the securable compartment ofthe autonomous robot vehicle 101 and/or sub-robot vehicle 1402 when itdelivers an item.

In various embodiments, the autonomous robot vehicle 101 and/or thesub-robot vehicle 1402 may determine the customer pickup location basedon the surrounding environment at the destination location. In variousembodiments, the surrounding environment of the destination location mayinclude, for example, fences, shrubs, landscaping, lawns, driveways,stairways, and/or unpaved walkways. For example, if the destinationlocation has a shrub blocking the way to a side door, then the sub-robotvehicle 1402 or the autonomous robot vehicle 101 may determine that thefront door may be a better customer pickup location.

In various embodiments, the autonomous robot vehicle 101 may carrymultiple sub-robot vehicles 1402, and each sub-robot vehicle 1402 may beconfigured to travel on different types of pedestrian terrain. Forexample, one sub-robot vehicle may be configured to travel on lawns,while another sub-robot vehicle may be configured to climb stairs. Othersub-robot vehicles are contemplate for different types of terrain orpedestrian terrain. Accordingly, a few different types of sub-robotvehicles 1402 may be stored in the autonomous robot vehicle 101, and theappropriate autonomous robot vehicle 101/sub-robot vehicles 1402combination can be deployed based on either customer request of drop-offlocation. In various embodiments, the appropriate autonomous robotvehicle 101/sub-robot vehicles 1402 combination is based an assessmentof what the expected terrain at the destination location will be.

The embodiments and descriptions of sub-robot vehicles and autonomousrobot vehicles carrying and deploying sub-robot vehicles are exemplaryand do not limit the scope of the present disclosure. Variations andcombinations of various embodiments are contemplated to be within thescope of the present disclosure.

Controller(s) and Processor(s)

In some embodiments, each robot in the robot fleet is equipped with oneor more processors 125 capable of both high-level computing forprocessing as well as low-level safety-critical computing capacity forcontrolling the hardware. The at least one processor is configured tomanage the conveyance system, the navigation module, the sensor system,instructions from the fleet management module, the communication moduleand the controller.

Further still, in some embodiments, each robot in the robot fleet isequipped with a controller 150 configurable to associate each one of thesecurable compartments 102, 104 to an assignable customer 202 orprovider 204 and provide entry when authorized.

Additional Features

In some embodiments, the robot fleet further includes at least one robothaving a digital display for curated content comprising: advertisements(i.e., for both specific user and general public), including servicesprovided, marketing/promotion, regional/location of areas served,customer details, local environment, lost, sought or detected people,public service announcements, date, time, or weather.

The embodiments disclosed herein are examples of the disclosure and maybe embodied in various forms. For instance, although certain embodimentsherein are described as separate embodiments, each of the embodimentsherein may be combined with one or more of the other embodiments herein.Specific structural and functional details disclosed herein are not tobe interpreted as limiting, but as a basis for the claims and as arepresentative basis for teaching one skilled in the art to variouslyemploy the present disclosure in virtually any appropriately detailedstructure. Like reference numerals may refer to similar or identicalelements throughout the description of the figures.

The phrases “in an embodiment,” “in embodiments,” “in variousembodiments,” “in some embodiments,” or “in other embodiments” may eachrefer to one or more of the same or different embodiments in accordancewith the present disclosure. A phrase in the form “A or B” means “(A),(B), or (A and B).” A phrase in the form “at least one of A, B, or C”means “(A); (B); (C); (A and B); (A and C); (B and C); or (A, B, andC).”

Any of the herein described methods, programs, algorithms or codes maybe converted to, or expressed in, a programming language or computerprogram. The terms “programming language” and “computer program,” asused herein, each include any language used to specify instructions to acomputer, and include (but is not limited to) the following languagesand their derivatives: Assembler, Basic, Batch files, BCPL, C, C+, C++,Delphi, Fortran, Java, JavaScript, machine code, operating systemcommand languages, Pascal, Perl, PL1, Python, scripting languages,Visual Basic, metalanguages which themselves specify programs, and allfirst, second, third, fourth, fifth, or further generation computerlanguages. Also included are database and other data schemas, and anyother meta-languages. No distinction is made between languages which areinterpreted, compiled, or use both compiled and interpreted approaches.No distinction is made between compiled and source versions of aprogram. Thus, reference to a program, where the programming languagecould exist in more than one state (such as source, compiled, object, orlinked) is a reference to any and all such states. Reference to aprogram may encompass the actual instructions and/or the intent of thoseinstructions.

The systems described herein may also utilize one or more controllers toreceive various information and transform the received information togenerate an output. The controller may include any type of computingdevice, computational circuit, or any type of processor or processingcircuit capable of executing a series of instructions that are stored ina memory. The controller may include multiple processors and/ormulticore central processing units (CPUs) and may include any type ofprocessor, such as a microprocessor, digital signal processor,microcontroller, programmable logic device (PLD), field programmablegate array (FPGA), or the like. The controller may also include a memoryto store data and/or instructions that, when executed by the one or moreprocessors, cause the one or more processors to perform one or moremethods and/or algorithms.

It should be understood that the foregoing description is onlyillustrative of the present disclosure. Various alternatives andmodifications can be devised by those skilled in the art withoutdeparting from the disclosure. Accordingly, the present disclosure isintended to embrace all such alternatives, modifications and variances.The embodiments described with reference to the attached drawing figuresare presented only to demonstrate certain examples of the disclosure.Other elements, steps, methods, and techniques that are insubstantiallydifferent from those described above and/or in the appended claims arealso intended to be within the scope of the disclosure.

What is claimed is:
 1. An autonomous robot vehicle comprising: a firstland conveyance system configured to travel on vehicle roadways; anavigation system configured to navigate to a destination location; anexterior housing; and a sub-robot vehicle carried within the exteriorhousing while the first land conveyance system autonomously travels onthe vehicle roadways to the destination location, the sub-robot vehiclecomprising: a second land conveyance system configured to travel onpedestrian terrain; at least one module configured to store customeritems, the at least one module including at least one compartment orsub-compartment; at least one processor; and a memory storinginstructions which, when executed by the at least one processor, causethe sub-robot vehicle to autonomously control the second land conveyancesystem to exit the exterior housing and travel the pedestrian terrain toa customer pickup location.
 2. The autonomous robot vehicle of claim 1,wherein the destination location is one of a securable drop-box, aresidential address, or a commercial address.
 3. The autonomous robotvehicle of claim 1, wherein the instructions, when executed by the atleast one processor of the sub-robot vehicle, further cause thesub-robot vehicle to receive an item corresponding to a purchase orderprior to the autonomous robot vehicle traveling to the destinationlocation.
 4. The autonomous robot vehicle of claim 1, furthercomprising: at least one second processor; and a second memory storingsecond instructions which, when executed by the at least one secondprocessor, cause the autonomous robot vehicle to stop away from thedestination location, wherein the sub-robot vehicle travels a remainingdistance to the destination location on the pedestrian terrain.
 5. Theautonomous robot vehicle of claim 4, wherein the second instructions,when executed by the at least one second processor, cause the first landconveyance system to autonomously travel to a second destinationlocation at the same time the sub-robot vehicle travels the remainingdistance to the destination location.
 6. The autonomous robot vehicle ofclaim 1, wherein the customer pickup location is selected by a customer.7. The autonomous robot vehicle of claim 1, further comprising: at leastone second processor; and a second memory storing second instructionswhich, when executed by the at least one second processor, cause theautonomous robot vehicle to determine the customer pickup location basedon surrounding environment of the destination location.
 8. Theautonomous robot vehicle of claim 7, wherein the customer pickuplocation includes at least one of: a front door, a front porch, a streetcurb near the customer pickup location, or a side door.
 9. Theautonomous robot vehicle of claim 7, wherein the surrounding environmentof the destination location includes at least one of a lawn or astairway.
 10. The autonomous robot vehicle of claim 9, wherein thesecond instructions, when executed by the at least one second processor,cause the autonomous robot vehicle to select one of a plurality ofsub-robot vehicles suitable for reaching the customer pickup locationthrough the surrounding environment, the plurality of sub-robot vehiclesincluding the sub-robot vehicle.
 11. The autonomous robot vehicle ofclaim 10, wherein the plurality of sub-robot vehicles includes at leastone of a first sub-robot vehicle configured to traverse the lawn and asecond sub-robot configure to climb the stairway.
 12. A computerimplemented method for autonomous robot vehicle delivery comprising:navigating, via a navigation system, an autonomous robot vehicle to adestination location; autonomously traveling, via a first landconveyance system of the autonomous robot vehicle, on vehicle roadwaysto the destination location; carrying a sub-robot vehicle within anexterior housing of the autonomous robot vehicle while the first landconveyance system autonomously travels on the vehicle roadways to thedestination location, the sub-robot vehicle including: a second landconveyance system configured to travel on pedestrian terrain, and atleast one module configured to store customer items, the at least onemodule including at least one compartment or sub-compartment; andinstructing the sub-robot vehicle to exit the exterior housing of theautonomous robot vehicle and autonomously travel, via the second landconveyance system, the pedestrian terrain to a customer pickup location.13. The computer implemented method of claim 12, wherein the destinationlocation is one of a securable drop-box, a residential address, or acommercial address.
 14. The computer implemented method of claim 12,further comprising instructing the sub-robot vehicle to receive an itemcorresponding to a purchase order prior to traveling to the destinationlocation.
 15. The computer implemented method of claim 12, furthercomprising: controlling the first land conveyance system of theautonomous robot vehicle to stop away from the destination location; andinstructing the sub-robot vehicle to travel a remaining distance to thedestination location on the pedestrian terrain.
 16. The computerimplemented method of claim 15, further comprising controlling the firstland conveyance system of the autonomous robot vehicle to autonomouslytravel to a second destination location at the same time the sub-robotvehicle travels the remaining distance to the destination location. 17.The computer implemented method of claim 12, wherein the customer pickuplocation is specified by a customer.
 18. The computer implemented methodof claim 12, further comprising determining, by the autonomous robotvehicle, the customer pickup location based on surrounding environmentof the destination location.
 19. The computer implemented method ofclaim 18, wherein the customer pickup location includes at least one of:a front door, a front porch, a street curb near the customer pick uplocation, or a side door.
 20. The computer implemented method of claim18, wherein the surrounding environment of the destination locationincludes at least one of a lawn or a stairway.
 21. The computerimplemented method of claim 20, further comprising selecting, by theautonomous robot vehicle, one of a plurality of sub-robot vehiclessuitable for reaching the customer pickup location through thesurrounding environment, the plurality of sub-robot vehicles includingthe sub-robot vehicle.
 22. The computer implemented method of claim 21,wherein the plurality of sub-robot vehicles includes at least one of afirst sub-robot vehicle configured to traverse the lawn or a secondsub-robot configure to climb the stairway.